Title :
Fuzzy control in seam tracking of the welding robots using sensor fusion
Author :
Yamane, Satoshi ; Kaneko, Yasuyoshi ; Hirai, Akira ; Ohshima, Kenji
Author_Institution :
Dept. of Electr. Eng., Maizuru Coll. of Technol., Japan
Abstract :
In order to obtain a goad quality of the welding result, it is important to determine the attitude of the welding torch and to trace the orbit in the welding robots. A sensor fusion system with a CCD camera and a touch sensor is proposed for determining the attitude of the torch and tracking the orbit. First, the shape of the work is measured with the touch sensor. The orbit is estimated from the measurement result. The optimum attitude of the torch is determined against the orbit by using the genetic algorithm. Its attitude is stored into the database. Next, the orbit is taken with a CCD camera. A method of processing the image is discussed for detecting the orbit. The robot traces the orbit with the fuzzy controller. Then the attitude of the torch is controlled according to the database. The validity of the sensor fusion system and the fuzzy controller is verified by performing tracking experiments
Keywords :
CCD image sensors; attitude control; control system synthesis; fuzzy control; genetic algorithms; image processing; industrial robots; microcomputer applications; optimal control; position control; process control; sensor fusion; tactile sensors; tracking; welding; CCD camera; fuzzy control; genetic algorithm; image processing; measurement; optimum attitude; orbit tracking; seam tracking; sensor fusion; touch sensor; welding robots; welding torch attitude; Cameras; Charge coupled devices; Charge-coupled image sensors; Fuzzy control; Orbital robotics; Position measurement; Robot sensing systems; Robot vision systems; Sensor fusion; Welding;
Conference_Titel :
Industry Applications Society Annual Meeting, 1994., Conference Record of the 1994 IEEE
Conference_Location :
Denver, CO
Print_ISBN :
0-7803-1993-1
DOI :
10.1109/IAS.1994.377663
